附加被动控制索系的柔索并联机器人的优化设计和振动分析  

OPTIMIZATION DESIGN AND VIBRATION ANALYSIS OF A WIRE DRIVEN PARALLEL ROBOT WITH PASSIVE CONTROL CABLES

作　　者：汤奥斐[1] 仇原鹰[1] 段宝岩[1] 

机构地区：[1]西安电子科技大学电子装备结构教育部重点实验室

出　　处：《机械强度》2008年第4期678-682,共5页Journal of Mechanical Strength

基　　金：国家自然科学基金(10433020);教育部留学回国人员实验室基金(030401)资助项目~~

摘　　要：大射电望远镜馈源支撑系统是一类欠约束型索牵引并联机器人。对附加被动控制索系的此并联机构首次从整个工作空间优化设计的角度建立其优化模型,并用实验和数值仿真验证其抑振的有效性。首先,基于动平台的非线性静平衡方程提出系统的两层规划模型;其次,在iSIGHT软件平台上对LT5 m被动控制构型的设计参数进行优化求解;最后,通过数值仿真及实验分别比较有无附加被动控制索系结构的振动特性。结果显示,仿真与实验结果的最大振幅基本一致,LT新构型可以显著抑制系统的风振。研究结论为欠约束型WDPR(wire driven parallel robot)系统的减振提供新思路,并对LT500 m工程的结构设计有很好的借鉴作用。The feed-supporting system for the large radio telescope （LT） is an incompletely restrained wire driven parallel robot （WDPR）. The optimum model of this mechanism with passive control cables was determined first from the point of view of the optimal design in its global workspace and the wind-induced vibration control was validated by experiments and numerical simulations. Firstly, the bilevel programming was proposed based on the nonlinear static equivalent equations of the moving platform, and secondly design parameters for the passive control structure of LT5 m scaled model were optimized on iSIGHT software platform. Finally, the wind-induced vibration characteristics of both structures with and with no passive control cables were respectively compared by numerical methods and experiments. The study shows that experiment and simulation results on the maximum amplitude are consistent on the whole, and passive control structure for LT does work in the wind-induced vibration mitigation of the system. This conclusion is useful for the vibration control of the incompletely restrained WDPR system and the structure design for LT500 m engineering.

关 键 词：大射电望远镜 柔索并联机器人 双层规划 风激振动 ISIGHT 

分 类 号：TH753.3[机械工程—仪器科学与技术] O328[机械工程—精密仪器及机械]